The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle architecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by...

This article deals with the free in-plane vibration analysis of a frame with four arbitrary inclined members by differential transform method. Based on four differential equations and sixteen boundary and compatibility conditions, the related structural eigenvalue problem will be analytically formulated. The frequency parameters and mode shapes of the frame will be calculated for various values...

In the presented work model and experiments of compliant robots with piezo actuators are carried out. The robot is designed to perform automatic injection of cells in the range of 10-30 μm. A kinematics model of serial-parallel structures is presented. Pseudo rigid body approach is used, where the elastic joints are modelled as revolute joints. Models for tension of parallel structures with ela...

Certain leg joints in arachnids lack extensor muscles and have elastically deformable transarticular sclerites spanning their arthrodial membranes, an arrangement consistent with a model in which flexor muscles load transarticular sclerites during flexion and energy from elastic recoil is used for extension. This study quantifies the potential contribution of elastic recoil to extension torque ...

Cracks cause to change dynamic response of beams and make discontinuity in slope of the deflection of the beams. The dynamic analysis of the Euler-Bernoulli cracked beam on the elastic foundation subjected to the concentrated load is presented in this paper. The stiffness of the elastic foundation and elastic supports influence on vibrational characteristics of the cracked beam. The Dynamic Gre...

The present paper is devoted to the numerical analysis and experimental tests of compressed bars with built-up cross section which are commonly used as a top chord roof trusses. significant impact on carrying capacity for that kind elements in case out-of-plane buckling appropriate choice battens provide interaction between separate members. Linear results nonlinear static results, material geo...

The joints between segmental rings can withstand a certain amount of bending moment as well as axial and shear forces. Generally, in the structural analysis of tunnel segmental lining, the joints can be modeled as elastic hinges or rotational springs, and their rigidity should be demonstrated in terms of the rigidity of the joints or their rotational stiffness. Therefore, the bending moment act...